function A = right_operator(q)
%RIGHT_OPERATOR Summary of this function goes here
%   Detailed explanation goes here
eta = q(4);
epsilon = q(1:3);
A = eta * eye(4);
A(1:3,4) = epsilon;
A(4, 1:3) = -epsilon';
A(1:3, 1:3) = A(1:3, 1:3) + so3(epsilon);
end

